doc(configuration): improve documentation (#6254)

# Pull Request Check List

- [ ] Added **tests** for changed code.
- [ ] Updated **documentation** for changed code.

Bunch of improvements over `Configuration` documentation:
- Better show default value of options
- Add some missing `Introduced in <VERSION>` notes
- Add backticks around types for better readability

Will backport to `1.2` branch before final release.